autoware.ai with ssc on real vehicle
Can anyone outline which nodes need to be running in order to get a real vehicle to drive using the Astuff SSC?
I have a vectormap that works well in simulation, using OP_global_planner. What nodes need to run to get the actual vehicle to move? Decision Maker? Twist_filter etc?
Thank you
EDIT:
To answer my own question and in case anyone else would like to do this:
- Load Vector Map
- Load TF
- run op_global_planner -> open RVIZ and choose starting point & endpoint of desired point
- turn on all openPlanner - Local Planning nodes (only enabled "enable following" In Op_common_params, enabled all other nodes but not any extra options within the app settings)
- Enabled localization that publishes /current_pose & /current_velocity
- Enable voxel_grid_filter (Decision maker requires /filtered_points topic)
- Enable Decision_maker (enable disuse vectormap and disable all other checkmarks)
- Enable Twist_filter (enable use_decision_maker)
Enable Pure Pursuit (or probably MPC_follower)
launch drive-by-wire system & ssc (independent of autoware, comes with AStuff equipped vehicles)
launch ssc_interface
Open RVIZ and add the vehicle_engage_panel -> click engage, status should change from manual to AUTO and vehicle applies brake and shifts into DRIVE
in Rviz add the decision_maker_panel and follow the decision_maker_help_text to engage the vehicle fully.
DISCLAIMER: I am still running into some issues as I have not tuned the MPC or any other parameters to the vehicle that I am using so I had to disengage the vehicle right away as it was violently steering towards a ditch. This was due to a misalignment of the PCD map and vectormap. We rotated the map to be oriented correctly through CloudCompare
@JoloGermanAg, May I know how you connect the autoware.ai with real vehicle,using can?
I unfortunately do not know how to do that - the above only applies to vehicles equipped with the Autonomoustuff SSC software
Thanks @JoloGermanAg for reply, So, how do u connect physically from autoware system to the Autonomoustuff SSC software in the car?
The vehicle was purchased and fully equipped from Autonomoustuff - the computer has a CAN card in it that connects to a NewEagle Raptor Drive-by-wire system (standalone ECU that communicates with vehicles internal ECU/CAN) but I do not know how that works to be honest. What vehicle do you have and what is it equipped with?
Oh, I thought you already connect the autoware system to the car system. My vehicle doesn't come with SCC or drive-by-wire, so we plan to build external control to the car such as steerring controller and etc. And for connection, right now we look into CAN connection. If you have any information on this CAN connection, mind to share?
Ah i see, it is all connected but I didn;t have to do that personally, it was done by Astuff for us. The system is proprietary to Astuff as far as I know so I can;t really share much. I worked on a different project where we designed our own PCB (old vehicle with analog drive-by-wire) and we just took the commands from autoware for steering brake/acceleration, output them to the USB and the PCB would then convert them to an analog voltage. I am not very familiar with CAN at all. Sorry.
I see. Thanks mate